Research on Kinematic and Dynamic Modeling and Control Strategy of Bionic Robots

This study conducts in-depth research on kinematic and dynamic modeling and control strategy of bionic robots. In terms of modeling, with the help of D-H parameter method, the precise kinematic equations are gradually derived based on the unique mechanical structure of bionic robots, and the values of various parameters are clearly defined; the Lagrange equation is used to fully consider the robot's motion characteristics, successfully construct a dynamic model, and double verification by theoretical comparison and actual measurement is used to ensure the accuracy of the model in various motion states. An experimental platform consisting of adaptive hardware equipment and professional software environment is built, and a variety of complex terrains are designed in a targeted manner, such as rugged mountains with a simulated slope of 30°, muddy wetlands with a friction coefficient of 0.6, and experiments covering multiple task scenarios such as target search and object handling. Different control strategies are compared and analyzed, and the data show that the optimized control strategy has significant results. When operating in complex terrain, the average displacement error of the bionic robot is reduced by 25% compared with the traditional strategy, and the energy consumption is reduced by 20% when completing the same object handling task.